Method of controlling articulated robot
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United States of America Patent
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Feb 16, 1993
Grant Date -
N/A
app pub date -
Sep 23, 1991
filing date -
Jan 23, 1990
priority date (Note) -
Expired
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Abstract
A method of controlling an articulated robot having in excess of six axes and up to twelve axes, comprises the steps of dividing the axes into two groups each composed of six axes or less, those axes which are positioned on one side of a dividing point (P) closely to a reference point serving as redundancy axes (11), those axes which are positioned on the other side of the dividing point closely to a robot wrist (Q) serving as basic axes (12), and controlling the dividing point (P), as a first control point, by way of interpolation and controlling the robot (Q), as a second control point, by way of interpolation with the controlled first control point regarded as a new reference point, so that all the axes of the articulated robot can be controlled by way of interpolation.
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